Study on machine vision for fast position tracking of multiple trays on an omnidirectional robotic device

This paper introduces the study on a machine vision system used to detect and track the center position of multiple trays moving on the omnidirectional robotic device for material transportation in industrial environments, even when they are subject to partial occlusion. The performance of the system was evaluated in terms of different degrees of occlusion over the trays and the response time of the software implementation.